The head of the Terrence Higgins Trust, a charity that campaigns on AIDS and HIV issues, said Harry's video was a "groundbreaking moment in the fight against HIV."

Prince Harry prepares to have an HIV test by Specialist Psychotherapist Robert Palmer during a visit to Burrell Street Sexual Health Clinic on July 14, 2016 in London, England.

(Chris Jackson/Getty Images)

"Not only does it show his royal highness' genuine and personal commitment to tackling the HIV epidemic, it will amplify a message to millions all over the world: Testing for HIV is easy, quick and nothing to be feared," chief executive Ian Green said in a statement.

The prince's involvement in HIV testing mimics his mother Princess Diana's mission to fight against the disease.

"The Prince is now determined to help his generation understand that the battle against the disease has not yet been won and still needs fighting," a spokesperson for the Royal Family said.

Harry will continue to raise awareness for national health issues by visiting the International AIDS Conference in Durban next week.